CN107214316A - A kind of seven axle die casting spraying pickup robot - Google Patents
A kind of seven axle die casting spraying pickup robot Download PDFInfo
- Publication number
- CN107214316A CN107214316A CN201710530976.3A CN201710530976A CN107214316A CN 107214316 A CN107214316 A CN 107214316A CN 201710530976 A CN201710530976 A CN 201710530976A CN 107214316 A CN107214316 A CN 107214316A
- Authority
- CN
- China
- Prior art keywords
- pickup
- spraying
- connecting rod
- servomotor
- bottom plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D17/00—Pressure die casting or injection die casting, i.e. casting in which the metal is forced into a mould under high pressure
- B22D17/20—Accessories: Details
- B22D17/22—Dies; Die plates; Die supports; Cooling equipment for dies; Accessories for loosening and ejecting castings from dies
- B22D17/2218—Cooling or heating equipment for dies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D17/00—Pressure die casting or injection die casting, i.e. casting in which the metal is forced into a mould under high pressure
- B22D17/20—Accessories: Details
- B22D17/2084—Manipulating or transferring devices for evacuating cast pieces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a kind of seven axles die casting spraying pickup robot, the traversing bottom plate of left and right horizontal movement is provided with base, enter bottom plate before and after being moved back and forth before and after being provided with traversing bottom plate, it is front and rear enter bottom plate on sprayer unit and pick-off unit has been arranged side by side, it is front and rear enter bottom plate on be provided with driving pick-off unit rotation pickup seat drive device, during spraying pickup, the driving pick-off unit rotation of pickup seat drive device makes taken product away from mould after pick-off unit pickup, now, sprayer unit is sprayed；Its advantage is due to that complete machine overall volume is small, floor space is small, and the movement travel of pick-off unit is short, complete machine reaction speed is fast, improves production efficiency；During due to spraying pickup, the driving pick-off unit rotation of pickup seat drive device makes taken product away from mould after pick-off unit pickup, now, sprayer unit is sprayed, the cleaning of product is advantageously ensured that, is used for pickup without opening side safety door, is conducive to production environment clean and workman's personal safety.
Description
Technical field
The present invention relates to a kind of robot, more particularly, to a kind of seven axles die casting spraying pickup robot.
Background technology
In die casting machine press casting procedure, generally comprise and pickup is carried out to the die casting of compression mod depanning and compression mod is carried out
Spray the two steps, this is due to that the die casting temperature that compression mod is molded is very high, therefore need to be by pick-off unit by die casting
The die casting that mould is molded is taken away, to ensure the personal safety of operating personnel；Just because compression mod is to be cast at high temperature
Type die casting, to improve die cast efficiency, therefore spraying treatment need to be carried out to compression mod by sprayer unit, to shorten die casting
Cool time of the mould during die cast.
Existing die casting is mainly the axle of truss-like four spraying pickup all-in-one, articulated connecting rod spraying machine, articulated type with equipment
Link-type extractor etc..The axle of truss-like four spraying pickup all-in-one, pick-off unit takes and original place is rested on after product, dress to be sprayed
Put to after compression mod mist cooling, pick-off unit leaves together with sprayer unit, therefore it is dirty to easily cause die casting during spraying
Dye；And its overall dimensions is big, floor space is big.Articulated connecting rod spraying machine, articulated connecting rod formula pickup are separate from peace
Two type of dress, not only floor space is big, and side safety door will be opened for pickup in production process, and this is just unfavorable for
Production environment cleaning and workman's personal safety.
The content of the invention
The technical problems to be solved by the invention are to provide that one kind can prevent contamination of products, small volume and reaction speed is fast
Seven axle die casting spraying pickup robot, using the spraying pickup robot of the structure, in production process side safety door without
It need to open for pickup, be conducive to production environment clean and workman's personal safety.
The present invention solve the technical scheme that is used of above-mentioned technical problem for：A kind of seven axle die casting spraying pickup machine
It is provided with people, including base, described base before being provided with the traversing bottom plate of left and right horizontal movement, described traversing bottom plate
Enter bottom plate before and after moving back and forth afterwards, it is described before and after enter on bottom plate sprayer unit and pick-off unit has been arranged side by side, it is described
It is front and rear enter bottom plate on the pick-off unit that is provided with described in driving enter the pickup seat drive device of bottom plate rotation, spray before and after described
During mist pickup, after described pick-off unit pickup, the described pick-off unit rotation of described pickup seat drive device driving makes institute
Pressure casting is away from mould, now, described sprayer unit spraying.
Described pick-off unit includes pickup large arm, pickup forearm and by the first servomotor and the first RV deceleration units
Into pickup motor driver, it is described before and after enter to be provided with bottom plate for installing the first described servomotor, institute
First motor seal case of the first RV reductors stated and described pickup seat drive device, the first described servomotor is fixed
On the first side plate of the first described motor seal case, the output shaft of the first described servomotor stretches out the first described electricity
The first described RV reductors are connected with first side plate of secret joint sealing, the output shaft of described the first servomotor, it is described
The first RV reductors output shaft and one end of described pickup large arm be coupled, the other end of described pickup large arm and institute
The upper end for the pickup forearm stated is coupled, and the lower end of described pickup forearm is provided with pickup clamping jaw.First servomotor drives
First RV reductors drive pickup large arm to be rotated around the central axis of the output shaft of the first RV reductors, to realize pickup forearm band
Pickup clamping jaw to move along a curved path, be easy to the quick pickup of pickup clamping jaw.
Described pickup seat drive device includes the second servomotor and the 2nd RV reductors, the second described servomotor
On the lower shoe for being fixed on the first described motor seal case, it is connected with the output shaft of described the second servomotor described
2nd RV reductors, the output flanges of described the 2nd RV reductors stretch out described lower shoe and be fixed on it is described before and after enter
On bottom plate, described lower shoe by the 2nd described RV reductors be arranged on it is described before and after enter on bottom plate, described second
The described lower shoe of RV reductors driving rotates around the central shaft of described output flange.Because the second servomotor is fixed on down
On bottom plate, the output flange of the 2nd RV reductors enters on bottom plate before and after being fixed on, therefore the second servomotor drives the 2nd RV to subtract
Fast machine drives the first motor seal case to be rotated around the central shaft of output flange, because pickup large arm is arranged on the first motor seal case
The first side plate on, the small arm axle of pickup is connected in pickup large arm, therefore pickup large arm, pickup forearm revolve with the first motor seal case
Turn, realize that product is directly removed after pickup, it is to avoid product is contaminated during spraying.
First connecting rod component, described first connecting rod group are provided between described pickup large arm and the first described side plate
Part includes the first long connecting rod and the first short connecting rod, and one end of the first described long connecting rod is hinged on the first described side plate, institute
One end of the other end for the first long connecting rod stated and the first described short connecting rod is hinged, the other end of described the first short connecting rod
Axle is connected between described pickup forearm and described pickup large arm, described the first long connecting rod, the first described short connecting rod, institute
The pickup large arm stated surrounds parallel four side with the first described side plate.First long connecting rod, the first short connecting rod, pickup large arm,
Side plate surrounds a parallelogram, so as to ensure that pickup forearm remains vertical state, it is ensured that pickup clamping jaw is steady, accurate
Take, put product.
Described pick-off unit also includes being vertically arranged with the first balance cylinder, the first described side plate for fixing institute
First support column of the first balance cylinder stated, the top of the first described balance cylinder is fixed on the first described support column
Top, the tail end of the first described balance cylinder is fixed in described pickup large arm.Between pickup large arm and the first side plate
First balance cylinder is set, is conducive to that pickup large arm is steady, quick rotation, the effect of speed-raising is served.
Described sprayer unit includes spraying large arm, spraying forearm and by the 3rd servomotor and the 3rd RV deceleration units
Into the first motor driver, the 3rd described servomotor be fixed on it is described before and after enter on bottom plate, the described 3rd watches
Take and the 3rd described RV reductors are connected with the output shaft of motor, the output shaft of described the 3rd RV reductors and described spray
One end of mist large arm is coupled, and the upper end of the other end and described spraying forearm of described spraying large arm is coupled, described
The upper end of spraying forearm be provided with the second motor driver and the 3rd motor driver, the lower end of described spraying forearm
Spraying integrated package is provided with, the described spraying integrated package of described the second motor driver driving is around described spraying forearm
Backswing is moved, and the described spraying integrated package of described the 3rd motor driver driving is using described spraying forearm central axis as axle
The heart rotates.3rd servomotor drives the central shaft that the 3rd RV reductors drive spraying large arm around the output shaft of the 3rd RV reductors
Line rotates, and to realize that spraying forearm moves up and down with spraying integrated package, is easy to integrated package fast spraying of spraying；Second motor drives
Dynamic device driving spraying integrated package swings back and forth around spraying forearm, and the 3rd motor driver driving spraying integrated package is small to spray
Arm central axis rotates for axle center, spraying integrated package more fully, is quickly sprayed, spray effect is good；Second motor
Drive device and the 3rd motor driver are arranged on the upper end of spraying forearm, are conducive to waterproof, extend its service life, solve
Traditional spraying spindle motor is difficult to seal, intaking is easily damaged, causes complete machine to return something for repairs the high problem of rate.
The upper end of described spraying forearm is provided with for installing described the second motor driver and the described the 3rd
The motor mounting base of motor driver, described the second motor driver includes the 4th servomotor, driven shaft and the
One planetary reducer, described the 4th servomotor is fixed on by mounting seat on described motor mounting base, and described the
Four servomotors are fixed on the top of described mounting seat vertically, and the middle part of described mounting seat sets fluted, and described is recessed
The output shaft and the shaft coupling of the upper end of described driven shaft for connecting the 4th described servomotor are provided with groove, it is described
The inside of spraying forearm be the cavity that runs through up and down, described cavity is connected with described motor mounting base, described
Driven shaft stretches into described cavity, and the lower end of described driven shaft is coupled with the first described planetary reducer, and described the
One planetary reducer is right angle double-shaft output reducer, and axle is connected on the first described planetary reduction gear to described spraying integrated package respectively
On two output shafts of machine.4th servomotor drives driven shaft synchronous rotary to drive the first planetary reduction gear by shaft coupling
Machine rotates, and because the first planetary reducer is right angle double-shaft output reducer, therefore spraying integrated package can be around the 4th reductor
Two output shafts swing back and forth, and are easy to comprehensive, quick misting cooling；It is small that 4th servomotor is arranged on spraying by mounting seat
The top of arm, is conducive to waterproof, improves the security performance that motor is used, extend the service life of the 4th servomotor.
The 3rd described motor driver includes the 5th servomotor and the second planetary reducer, the 5th described servo
The second described planetary reducer is connected with the output shaft of motor, the second described planetary reducer is connected with little gear, institute
Gear wheel is fixedly installed on the bottom surface for the mounting seat stated, described gear wheel is intermeshed with described little gear, described
Gear wheel be set in the upper end of described driven shaft, be provided with sleeve between described driven shaft and described spraying forearm,
Described sleeve is coaxially disposed with described spraying forearm, is provided with and is connected by first between described sleeve and described gear wheel
The clutch shaft bearing component of acting flange, deep groove ball bearing and the first plane bearing, described clutch shaft bearing component is arranged on described
Driven shaft it is upper, be provided with and connected by the second plane bearing and second between described sleeve and the first described planetary reducer
The second bearing component of flange composition.
5th servomotor drives the second planetary reducer to drive pinion rotation, and little gear drives bull gear drive, greatly
Pinion rotation drives the 4th servomotor to rotate, and is rotated by the zone of action moving sleeve of clutch shaft bearing component, due to sleeve and the
Second bearing component is provided between one planetary reducer, and sleeve is coaxially disposed with spraying forearm, therefore the first planetary reduction gear
Machine is rotated with sleeve, so that central axis rotation of the spraying integrated package around spraying forearm is realized, so as to reach 360 ° of misting coolings
Effect；Because deep groove ball bearing is fixed on driven shaft by the first adpting flange, therefore the driving of the 4th servomotor is driven
Axle is rotated drives the 4th servomotor unitary rotation non-interference with the 5th servomotor, therefore during misting cooling, sprays integrated
Block swings back and forth around spraying forearm central axis rotation, and around spraying forearm, is conducive to more comprehensively, faster spraying cold
But.
Enter to be provided with bottom plate before and after described and slow down for sealing the 3rd described servomotor and the 3rd described RV
Second motor seal case of machine, described spraying large arm is close installed in the second described motor by the 3rd described RV reductors
On second side plate of joint sealing, second connecting rod component is provided between described spraying large arm and the second described side plate, it is described
Second connecting rod component includes the second long connecting rod and the second short connecting rod, and one end of the second described long connecting rod is hinged on described second
On side plate, one end of the other end and the second described short connecting rod of described the second long connecting rod is hinged, the second described short company
The other end axle of bar is connected between described spraying forearm and described spraying large arm, described the second long connecting rod, described the
Two short connecting rods, described pickup large arm surround a parallelogram with the second described side plate.Second long connecting rod, the second short company
Bar, pickup large arm, the second side plate surround a parallelogram, so as to ensure that spraying forearm remains vertical state, it is ensured that spray
Mist integrated package is steady, accurately spraying.
Described sprayer unit also includes being vertically arranged with the second balance cylinder, the second described side plate for fixing institute
Second support column of the second balance cylinder stated, one end of described the second balance cylinder and the top of the second described support column
It is connected, the other end of the second described balance cylinder is connected with described spraying large arm.In spraying large arm and the second side plate
Between the second balance cylinder is set, be conducive to that spraying large arm is steady, quick rotation, serve the effect of speed-raising.
Enter to be provided with the first carriage between bottom plate and described traversing bottom plate before and after described, the first described slip
Device includes the first guide rail and the first sliding block, and the first described guide rail is fixedly installed on the upper surface of described traversing bottom plate,
The first described sliding block be fixedly installed on it is described before and after enter on the bottom surface of bottom plate, set in the second described motor seal case
Have for drive it is described before and after enter the 6th servomotor and third planet reductor of bottom plate horizontal shifting.
The second carriage, the second described carriage bag are provided between described traversing bottom plate and described base
The second guide rail and the second sliding block are included, the second described guide rail is fixedly installed on the bottom surface of described traversing bottom plate, described
Second sliding block is fixedly installed on the upper surface of described base, is provided with described traversing bottom plate for driving described horizontal stroke
Move the 7th servomotor and fourth planet reductor of bottom plate left and right horizontal movement.
Compared with prior art, the advantage of the invention is that：The invention discloses a kind of seven axles die casting spraying extractor
It is provided with before and after being provided with the traversing bottom plate of left and right horizontal movement, traversing bottom plate and moves back and forth on device people, including base, base
Before and after enter bottom plate, it is front and rear enter bottom plate on be arranged side by side sprayer unit and pick-off unit, it is front and rear enter bottom plate on be provided with driving
Pick-off unit around it is front and rear enter bottom plate rotation pickup seat drive device, before sprayer unit and pick-off unit are disposed side by side on
On laggard bottom plate, reduce complete machine overall volume, make complete machine floor space small, shorten the movement travel of pick-off unit, make complete machine anti-
Answer speed fast, improve production efficiency；Due to it is front and rear enter bottom plate on be provided with driving pick-off unit rotation pickup seat drive device,
During spraying pickup, the driving pick-off unit rotation of pickup seat drive device makes institute's pressure casting away from mould after pick-off unit pickup,
Now, sprayer unit is sprayed to compression mod, is so advantageously ensured that the cleaning of product, is prevented contamination of products, and without beating
Opening side safety door is used for pickup, is conducive to production environment clean and workman's personal safety.
Brief description of the drawings
Fig. 1 is top view of the invention；
Fig. 2 is stereogram of the invention；
Fig. 3 is the top view for removing motor seal case of the invention；
Fig. 4 is the spraying forearm of the present invention and the installation diagram of the second motor driver and the 3rd motor driver.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
Embodiment：As shown in Figure 1, Figure 2 and Figure 3, a kind of seven axles die casting spraying pickup robot, including base 1, base
The traversing bottom plate 2 of left and right horizontal movement is provided with 1, bottom plate 3 is entered before and after being moved back and forth before and after being provided with traversing bottom plate 2,
It is front and rear enter bottom plate 3 on be arranged side by side sprayer unit and pick-off unit, it is front and rear enter bottom plate 3 on be provided with driving pick-off unit around preceding
The pickup seat drive device that laggard bottom plate 3 rotates, during spraying pickup, after pick-off unit pickup, pickup seat drive device driving takes
The rotation of part device makes taken product away from mould, now, sprayer unit spraying.Due to sprayer unit and pick-off unit being set side by side
Put it is front and rear enter bottom plate 3 on, reduce complete machine overall volume, make complete machine floor space small, shorten pick-off unit movement travel, make
Complete machine reaction speed is fast, improves production efficiency；Due to it is front and rear enter bottom plate 3 on be provided with driving pick-off unit rotation pickup seat drive
Dynamic device, during spraying pickup, the driving pick-off unit rotation of pickup seat drive device makes taken product remote after pick-off unit pickup
Mould, now, sprayer unit spraying so advantageously ensure that the cleaning of product, prevent contamination of products, and need not open side peace
Air cock is used for pickup, is conducive to production environment clean and workman's personal safety.
In this particular embodiment, pick-off unit includes pickup large arm 41, pickup forearm 42 and by the first servomotor
43 and the first pickup motor driver for constituting of RV reductors 44, it is front and rear enter bottom plate 3 on be provided with and first watched for installing
The first motor seal case 45 of motor 43, the first RV reductors 44 and pickup seat drive device is taken, the first servomotor 43 is fixed
In the first side plate of the first motor seal case 45（Do not shown in figure）On, the output shaft of the first servomotor 43 stretches out the first motor
First side plate of seal box 45（Do not shown in figure）, the first RV reductors 44 are connected with the output shaft of the first servomotor 43,
The output shaft of first RV reductors 44 and one end of pickup large arm 41 are coupled, the other end and the pickup forearm 42 of pickup large arm 41
Upper end be coupled, the lower end of pickup forearm 42 is provided with pickup clamping jaw 46.First servomotor 43 drives the first RV reductors
44 drive pickup large arm 41 to be rotated around the central axis of the output shaft of the first RV reductors 44, to realize pickup forearm 42 with taking
Part clamping jaw 46 moves up and down, and is easy to the quick pickup of pickup clamping jaw 46；Pickup large arm 41 is arranged on the by the first RV reductors 44
Side plate（Do not shown in figure）On.
In this particular embodiment, pickup seat drive device includes the second servomotor 5 and the 2nd RV reductors（In figure not
Display）, the second servomotor 5 is fixed on the lower shoe of the first motor seal case 45（Do not shown in figure）On, the second servomotor 5
Output shaft on be connected with the 2nd RV reductors（Do not shown in figure）, the 2nd RV reductors（Do not shown in figure）Output flange stretch
Go out lower shoe（Do not shown in figure）And enter before and after being fixed on bottom plate 3, lower shoe（Do not shown in figure）Pass through the 2nd RV reductors
（Do not shown in figure）Installed in it is front and rear enter bottom plate 3 on, the 2nd RV reductors（Do not shown in figure）Lower shoe is driven around output flange
Central shaft rotation.Because the second servomotor 5 is fixed on lower shoe（Do not shown in figure）On, the 2nd RV reductors（In figure not
Display）Output flange be fixed on before and after enter bottom plate 3 on, therefore the second servomotor 5 drive the 2nd RV reductors（Do not show in figure
Show）The first motor seal case 45 is driven to be rotated around the central shaft of output flange, to be arranged on the first motor close due to pickup large arm 41
First side plate of joint sealing 45（Do not shown in figure）On, the axle of pickup forearm 42 is connected in pickup large arm 41, therefore pickup large arm 41, is taken
Part forearm 42 is rotated with the first motor seal case 45, realizes that product is directly removed after pickup, it is to avoid product is contaminated during spraying.
In this particular embodiment, the side plate of pickup large arm 41 and first（Do not shown in figure）Between be provided with first connecting rod group
Part, first connecting rod component includes the first long connecting rod 61 and the first short connecting rod 62, and one end of the first long connecting rod 61 is hinged on the first side
Plate（Do not shown in figure）On, one end of the other end of the first long connecting rod 61 and the first short connecting rod 62 is hinged, the first short connecting rod 62
Other end axle be connected between pickup forearm 42 and pickup large arm 41, the first long connecting rod 61, the first short connecting rod 62, pickup large arm 41
With the first side plate（Do not shown in figure）Surround parallel four side.First long connecting rod 61, the first short connecting rod 62, pickup large arm 41,
Side plate（Do not shown in figure）A parallelogram is surrounded, so as to ensure that pickup forearm 42 remains vertical state, it is ensured that take
Part clamping jaw 46 is steady, accurately take, put product.
In this particular embodiment, pick-off unit also includes the first balance cylinder 47, the first side plate（Do not shown in figure）On
The first support column 48 for fixing the first balance cylinder 47 is vertically arranged with, the top of the first balance cylinder 47 is fixed on first
The top of support column 48, the tail end of the first balance cylinder 47 is fixed in pickup large arm 41.In the side plate of pickup large arm 41 and first
（Do not shown in figure）Between the first balance cylinder 47 is set, be conducive to that pickup large arm 41 is steady, quick rotation, serve speed-raising
Effect.
In this particular embodiment, as shown in figure 4, sprayer unit includes spraying large arm 71, spraying forearm 72 and by the
First motor driver of three servomotors 73 and the 3rd RV reductors 74 composition, the 3rd servomotor 73 enters before and after being fixed on
On bottom plate 3, be connected with the 3rd RV reductors 74 on the output shaft of the 3rd servomotor 73, the output shaft of the 3rd RV reductors 74 with
One end of spraying large arm 71 is coupled, and the upper end of the other end for large arm 71 of spraying and forearm 72 of spraying is coupled, forearm of spraying
72 upper end is provided with the second motor driver 8 and the 3rd motor driver 9, and the lower end of spraying forearm 72 is provided with spraying
Integrated package 75, the second motor driver 8 driving spraying integrated package 75 swings back and forth around spraying forearm 72, the 3rd motor driving dress
Put 9 drivings and spray integrated package 75 using the central axis of forearm 72 of spraying as axle center rotation.3rd servomotor 73 drives the 3rd RV to subtract
Fast machine 74 drives the central axis rotation of output shaft of the spraying large arm 71 around the 3rd RV reductors 74, to realize the spraying band of forearm 72
Spraying integrated package 75 to move up and down, be easy to the fast spraying of integrated package 75 of spraying；The driving spraying of second motor driver 8 is integrated
Block 75 swings back and forth around spraying forearm 72, and the 3rd motor driver 9 driving spraying integrated package 75 is with the central shaft of forearm 72 of spraying
Line rotates for axle center, spraying integrated package 75 more fully, is quickly sprayed, spray effect is good；Second motor driving dress
Put 8 and the 3rd motor driver 9 be arranged on spraying forearm 72 upper end, be conducive to waterproof, extend its service life, solve
Traditional spraying spindle motor is difficult to seal, intaking is easily damaged, causes complete machine to return something for repairs the high problem of rate.
In this particular embodiment, the upper end of spraying forearm 72 is provided with for installing the second motor driver 8 and the
The motor mounting base 721 of three motor drivers 9, the second motor driver 8 includes the 4th servomotor 81, driven shaft 82
With the first planetary reducer 83, the 4th servomotor 81 is fixed on motor mounting base 721 by mounting seat 84, the 4th servo
Motor 81 is fixed on the top of mounting seat 84 vertically, and the middle part of mounting seat 84, which is set in fluted 841, groove 841, is provided with use
Shaft coupling 85 in the upper end for output shaft and the driven shaft 82 for connecting the 4th servomotor 81, above and below the inside of spraying forearm 72 is
The cavity 722 run through, cavity 722 is connected with motor mounting base 721, and driven shaft 82 is stretched under cavity 722, driven shaft 82
End is coupled with the first planetary reducer 83, and the first planetary reducer 83 is right angle double-shaft output reducer, integrated package 75 of spraying
Axle is connected on two output shafts of the first planetary reducer 83 respectively.4th servomotor 81 drives driven shaft by shaft coupling 85
82 synchronous rotaries are so as to drive the first planetary reducer 83 to rotate, because the first planetary reducer 83 is that right angle twin shaft exports deceleration
Machine, thus spraying integrated package 75 can be swung back and forth around two output shafts of the 4th reductor, be easy to it is comprehensive, quickly spray it is cold
But；4th servomotor 81 is arranged on the top of spraying forearm 72 by mounting seat 84, is conducive to waterproof, improves what motor was used
Security performance, extends the service life of the 4th servomotor 81.
In this particular embodiment, the 3rd motor driver 9 includes the 5th servomotor 91 and the second planetary reducer
92, the second planetary reducer 92 is connected with the output shaft of the 5th servomotor 91, and the second planetary reducer 92 is connected with small tooth
Gear wheel 94 is fixedly installed on wheel 93, the bottom surface of mounting seat 84, gear wheel 94 is intermeshed with little gear 93, gear wheel 94
The upper end of driven shaft 82 is set in, sleeve 95, sleeve 95 and spraying forearm 72 are provided between driven shaft 82 and spraying forearm 72
It is coaxially disposed, is provided between sleeve 95 and gear wheel 94 by the first adpting flange 101, the plane of deep groove ball bearing 102 and first
The clutch shaft bearing component of bearing 103, clutch shaft bearing component is arranged on upper, the planetary reducer 83 of sleeve 95 and first of driven shaft 82
Between be provided with the second bearing component being made up of the second plane bearing 111 and the second adpting flange 112.
In this particular embodiment, the 5th servomotor 91 drives the second planetary reducer 92 to drive little gear 93 to rotate,
Little gear 93 drives gear wheel 94 to rotate, and gear wheel 94, which is rotated, drives the 4th servomotor 81 to rotate, and passes through clutch shaft bearing component
Zone of action moving sleeve 95 rotate, due to being provided with second bearing component between the planetary reducer 83 of sleeve 95 and first, and set
Cylinder 95 is coaxially disposed with spraying forearm 72, therefore the first planetary reducer 83 is rotated with sleeve 95, so as to realize spraying integrated package
75 around spraying forearm 72 central axis rotation, so as to reach the effect of 360 ° of misting coolings；Because deep groove ball bearing 102 passes through
First adpting flange 101 is fixed on driven shaft 82, therefore the 4th servomotor 81 driving driven shaft 82 is rotated and the 5th servo
The driving of motor 91 unitary rotation of the 4th servomotor 81 is non-interference, therefore during misting cooling, spraying integrated package 75 is i.e. around spraying
The central axis of forearm 72 rotates, and has and is swung back and forth around spraying forearm 72, be conducive to more comprehensively, faster misting cooling.
In this particular embodiment, it is front and rear enter bottom plate 3 on be provided with and subtract for sealing the 3rd servomotor 73 and the 3rd RV
Second motor seal case 76 of fast machine 74, spraying large arm 71 is arranged on the second motor seal case 76 by the 3rd RV reductors 74
On second side plate 761, second connecting rod component is provided between the spraying side plate 761 of large arm 71 and second, second connecting rod component includes
Second long connecting rod 121 and the second short connecting rod 122, one end of the second long connecting rod 121 are hinged on the second side plate 761, and the second length connects
One end of the other end of bar 121 and the second short connecting rod 122 is hinged, and the other end axle of the second short connecting rod 122 is connected on spraying forearm
Between 72 and spraying large arm 71, the second long connecting rod 121, the second short connecting rod 122, the side plate 761 of pickup large arm 41 and second surround one
Parallelogram.Second long connecting rod 121, the second short connecting rod 122, pickup large arm 41, the second side plate 761 surround parallel four side
Shape, so as to ensure that spraying forearm 72 remains vertical state, it is ensured that spraying integrated package 75 is steady, accurately spraying.
In this particular embodiment, sprayer unit also includes being vertically arranged with the second balance cylinder 77, the second side plate 761
The second support column 78 for fixing the second balance cylinder 77, one end of the second balance cylinder 77 and the top of the second support column 78
It is connected, the other end of the second balance cylinder 77 is connected with spraying large arm 71.Between the spraying side plate 761 of large arm 71 and second
Second balance cylinder 77 is set, is conducive to that spraying large arm 71 is steady, quick rotation, the effect of speed-raising is served.
In this particular embodiment, front and rear to enter to be provided with the first carriage between bottom plate 3 and traversing bottom plate 2, first slides
Dynamic device includes the first guide rail（Do not shown in figure）With the first sliding block 131, the first guide rail（Do not shown in figure）It is fixedly installed on horizontal stroke
On the upper surface for moving bottom plate 2, the first sliding block 131 enters on the bottom surface of bottom plate 3 before and after being fixedly installed on, the second motor seal case 76
Enter the 6th servomotor 141 and third planet reductor of the horizontal shifting of bottom plate 3 before and after being inside provided with for driving (in figure
Do not show).
In this particular embodiment, the second carriage, the second carriage are provided between traversing bottom plate 2 and base 1
Including the second guide rail（Do not shown in figure）With the second sliding block 151, the second guide rail（Do not shown in figure）It is fixedly installed on traversing bottom plate 2
Bottom surface on, the second sliding block 151 is fixedly installed on the upper surface of base 1, be provided with traversing bottom plate 2 for drive it is traversing
The 7th servomotor 161 and the (not shown) of fourth planet reductor 162 of the left and right horizontal of bottom plate 2 movement.
Claims (10)
1. it is provided with left and right horizontal movement on a kind of seven axles die casting spraying pickup robot, including base, described base
Enter bottom plate before and after being moved back and forth before and after being provided with traversing bottom plate, described traversing bottom plate, it is characterised in that described is front and rear
Enter and sprayer unit and pick-off unit be arranged side by side on bottom plate, it is described before and after enter the pickup dress being provided with bottom plate described in driving
The pickup seat drive device of rotation is put, during spraying pickup, described pickup seat drive device is driven after described pick-off unit pickup
Moving described pick-off unit rotation makes taken product away from mould, now, described sprayer unit spraying.
2. a kind of seven axles die casting according to claim 1 spraying pickup robot, it is characterised in that described pickup dress
The pickup put including pickup large arm, pickup forearm and be made up of the first servomotor and the first RV reductors drives dress with motor
Put, it is described before and after enter to be provided with bottom plate for installing described the first servomotor, the first described RV reductors and institute
First motor seal case of the pickup seat drive device stated, the first described servomotor is fixed on the first described motor seal
On first side plate of case, the output shaft of the first described servomotor stretches out the first side plate of the first described motor seal case,
It is connected with the first described RV reductors on the output shaft of the first described servomotor, the output of described the first RV reductors
Axle and one end of described pickup large arm are coupled, the upper end phase of the other end and described pickup forearm of described pickup large arm
Axle connects, and the lower end of described pickup forearm is provided with pickup clamping jaw.
3. a kind of seven axles die casting according to claim 2 spraying pickup robot, it is characterised in that described pickup seat
Drive device includes the second servomotor and the 2nd RV reductors, and the second described servomotor is fixed on the first described motor
On the lower shoe of seal box, the 2nd described RV reductors are connected with the output shaft of described the second servomotor, it is described
The output flanges of 2nd RV reductors stretch out described lower shoe and be fixed on it is described before and after enter on bottom plate, described lower shoe
By the 2nd described RV reductors be arranged on it is described before and after enter on bottom plate, under described 2nd RV reductors driving is described
Bottom plate rotates around the central shaft of described output flange.
4. a kind of seven axles die casting according to claim 2 spraying pickup robot, it is characterised in that described pickup is big
It is provided with first connecting rod component between arm and the first described side plate, described first connecting rod component includes the first long connecting rod and the
One short connecting rod, one end of the first described long connecting rod is hinged on the first described side plate, described the first long connecting rod it is another
One end with the first described short connecting rod is held to be hinged, the other end axle of the first described short connecting rod is connected on described pickup forearm
Between described pickup large arm, described the first long connecting rod, the first described short connecting rod, described pickup large arm with it is described
First side plate surrounds parallel four side.
5. a kind of seven axles die casting according to claim 2 spraying pickup robot, it is characterised in that described pickup dress
Putting also includes the first balance cylinder, and for the first balance cylinder described in fixation is vertically arranged with the first described side plate
One support column, the top of the first described balance cylinder is fixed on the top of the first described support column, the first described balance
The tail end of cylinder is fixed in described pickup large arm.
6. a kind of seven axles die casting according to claim 1 spraying pickup robot, it is characterised in that described spraying dress
Put including spraying large arm, spraying forearm and dress is driven by the first motor that the 3rd servomotor and the 3rd RV reductors are constituted
Put, the 3rd described servomotor be fixed on it is described before and after enter on bottom plate, axle on the output shaft of described the 3rd servomotor
It is connected to the 3rd described RV reductors, the output shaft and one end phase axle of described spraying large arm of described the 3rd RV reductors
Connect, the upper end of the other end and described spraying forearm of described spraying large arm is coupled, the upper end of described spraying forearm
It is provided with the second motor driver and the 3rd motor driver, it is integrated that the lower end of described spraying forearm is provided with spraying
Block, the described spraying integrated package of described the second motor driver driving swings back and forth around described spraying forearm, described
The described spraying integrated package of 3rd motor driver driving rotates by axle center of described spraying forearm central axis.
7. a kind of seven axles die casting according to claim 6 spraying pickup robot, it is characterised in that described spraying is small
The upper end of arm is provided with for installing described the second motor driver and the motor peace of the 3rd described motor driver
Fill pedestal, described the second motor driver includes the 4th servomotor, driven shaft and the first planetary reducer, described the
Four servomotors are fixed on by mounting seat on described motor mounting base, and the 4th described servomotor is fixed on institute vertically
The top for the mounting seat stated, the middle part of described mounting seat sets fluted, is provided with described groove described for connecting
The 4th servomotor output shaft and the shaft coupling of the upper end of described driven shaft, above and below the inside of described spraying forearm is
The cavity run through, described cavity is connected with described motor mounting base, and described driven shaft stretches into described cavity, institute
The lower end for the driven shaft stated is coupled with the first described planetary reducer, and the first described planetary reducer is defeated for right angle twin shaft
Go out reductor, axle is connected on two output shafts of the first described planetary reducer described spraying integrated package respectively.
8. a kind of seven axles die casting according to claim 7 spraying pickup robot, it is characterised in that the 3rd described electricity
Machine actuating device includes being connected with the 5th servomotor and the second planetary reducer, the output shaft of described the 5th servomotor
The second described planetary reducer, the second described planetary reducer is connected with little gear, on the bottom surface of described mounting seat
Gear wheel is fixedly installed, described gear wheel is intermeshed with described little gear, and described gear wheel is set in described
The upper end of driven shaft, is provided with sleeve, described sleeve and described spray between described driven shaft and described spraying forearm
Mist forearm is coaxially disposed, be provided between described sleeve and described gear wheel by the first adpting flange, deep groove ball bearing and
The clutch shaft bearing component of first plane bearing, described clutch shaft bearing component is arranged on upper, the described set of described driven shaft
The second bearing being made up of the second plane bearing and the second adpting flange is provided between cylinder and the first described planetary reducer
Component.
9. a kind of seven axles die casting according to claim 6 spraying pickup robot, it is characterised in that enter before and after described
The second motor seal case is provided with bottom plate, the 3rd described RV reductors are fixed on the second of the second described motor seal case
On side plate, second connecting rod component, described second connecting rod group are provided between described spraying large arm and the second described side plate
Part includes the second long connecting rod and the second short connecting rod, and one end of the second described long connecting rod is hinged on the second described side plate, institute
One end of the other end for the second long connecting rod stated and the second described short connecting rod is hinged, the other end of described the second short connecting rod
Axle is connected between described spraying forearm and described spraying large arm, described the second long connecting rod, the second described short connecting rod, institute
The pickup large arm stated surrounds a parallelogram with the second described side plate.
10. a kind of seven axles die casting according to claim 9 spraying pickup robot, it is characterised in that described spraying dress
Putting also includes the second balance cylinder, and for the second balance cylinder described in fixation is vertically arranged with the second described side plate
Two support columns, one end of the second described balance cylinder is connected with the top of the second described support column, and described second is flat
The other end of weighing apparatus cylinder is connected with described spraying large arm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710530976.3A CN107214316B (en) | 2017-07-03 | 2017-07-03 | Seven-axis spraying and picking robot for die casting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710530976.3A CN107214316B (en) | 2017-07-03 | 2017-07-03 | Seven-axis spraying and picking robot for die casting |
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| CN107214316A true CN107214316A (en) | 2017-09-29 |
| CN107214316B CN107214316B (en) | 2023-04-11 |
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Cited By (3)
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| CN107583832A (en) * | 2017-10-11 | 2018-01-16 | 佛山市新鹏机器人技术有限公司 | A kind of automatic glue application cure system of trophy |
| CN108654894A (en) * | 2018-07-16 | 2018-10-16 | 上海震界自动化设备制造有限公司 | A kind of close coupled type connecting rod pickup spraying integral machine |
| CN109047704A (en) * | 2018-08-13 | 2018-12-21 | 胡文祥 | A kind of die casting is sprayed production method with automatic part picking |
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| Publication number | Publication date |
|---|---|
| CN107214316B (en) | 2023-04-11 |
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